R — Rodrigues vectorM-by-3 matrix

Output Arguments

dcm — Direction cosine matrix3-by-3-by-M matrix

Algorithms

An Euler-Rodrigues vector b⇀ represents
a rotation by integrating a direction cosine of a rotation axis with
the tangent of half the rotation angle as follows:

b→=[bxbybz]

where:

bx=tan(12θ)sx,by=tan(12θ)sy,bz=tan(12θ)sz

are the Rodrigues parameters. Vector s⇀ represents
a unit vector around which the rotation is performed. Due to the tangent,
the rotation vector is indeterminate when the rotation angle equals
±pi radians or ±180 deg. Values can be negative or positive.